ACM : Formatting

ArduCopter/Attitude.pde

@@ -330,12 +330,14 @@ get_rate_roll(int32_t target_rate)
     // call pid controller
     rate_error  = target_rate - current_rate;
     p           = g.pid_rate_roll.get_p(rate_error);
+
     // freeze I term if we've breached roll-pitch limits
     if( motors.reached_limit(AP_MOTOR_ROLLPITCH_LIMIT) ) {
         i	= g.pid_rate_roll.get_integrator();
     }else{
         i   = g.pid_rate_roll.get_i(rate_error, G_Dt);
     }
+
     d = g.pid_rate_roll.get_d(rate_error, G_Dt);
     output = p + i + d;
 
@@ -349,6 +351,7 @@ get_rate_roll(int32_t target_rate)
 
 #if LOGGING_ENABLED == ENABLED
     static int8_t log_counter = 0; // used to slow down logging of PID values to dataflash
+
     // log output if PID logging is on and we are tuning the rate P, I or D gains
     if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_KP || g.radio_tuning == CH6_RATE_KI || g.radio_tuning == CH6_RATE_KD) ) {
         log_counter++;